diff --git a/rasmt_moveit_config/config/rasmt_moveit.rviz b/rasmt_moveit_config/config/rasmt_moveit.rviz index 0398c36..fe85465 100644 --- a/rasmt_moveit_config/config/rasmt_moveit.rviz +++ b/rasmt_moveit_config/config/rasmt_moveit.rviz @@ -3,11 +3,9 @@ Panels: Help Height: 78 Name: Displays Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 + Expanded: ~ Splitter Ratio: 0.5 - Tree Height: 389 + Tree Height: 393 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -63,68 +61,6 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order - rasmt_Base_Link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_Dock_Link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_Fork_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_Fork_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_Fork_3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_Grip_Body: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_Grip_L: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_Grip_R: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_Link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_Link_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rasmt_tool0: - Alpha: 1 - Show Axes: false - Show Trail: false - rasmt_tool_end_point: - Alpha: 1 - Show Axes: false - Show Trail: false - world: - Alpha: 1 - Show Axes: false - Show Trail: false Robot Alpha: 1 Show Robot Collision: false Show Robot Visual: true @@ -216,10 +152,6 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - rasmt_tool_end_point: - Alpha: 1 - Show Axes: false - Show Trail: false world: Alpha: 1 Show Axes: false @@ -323,10 +255,6 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - rasmt_tool_end_point: - Alpha: 1 - Show Axes: false - Show Trail: false world: Alpha: 1 Show Axes: false @@ -336,6 +264,58 @@ Visualization Manager: Show Robot Visual: true Value: true Velocity_Scaling_Factor: 1 + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + rasmt_Base_Link: + Value: true + rasmt_Dock_Link: + Value: true + rasmt_Fork_1: + Value: true + rasmt_Fork_2: + Value: true + rasmt_Fork_3: + Value: true + rasmt_Grip_Body: + Value: true + rasmt_Grip_L: + Value: true + rasmt_Grip_R: + Value: true + rasmt_Link_1: + Value: true + rasmt_Link_2: + Value: true + rasmt_tool0: + Value: true + world: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + world: + rasmt_Base_Link: + rasmt_Fork_1: + rasmt_Link_1: + rasmt_Fork_2: + rasmt_Link_2: + rasmt_Fork_3: + rasmt_Dock_Link: + rasmt_Grip_Body: + rasmt_Grip_L: + {} + rasmt_Grip_R: + {} + rasmt_tool0: + {} + Update Interval: 0 + Value: true Enabled: true Global Options: Background Color: 48; 48; 48 @@ -409,7 +389,7 @@ Window Geometry: collapsed: false MotionPlanning - Trajectory Slider: collapsed: false - QMainWindow State: 000000ff00000000fd0000000400000000000001f30000039efc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000210000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000253000001880000017d00fffffffb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000053f0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000400000000000001f3000003a2fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000212000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000003f00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000002530000018a0000016900fffffffb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000039e000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000053f000003a200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Tool Properties: diff --git a/rasmt_support/world/robossembler.world b/rasmt_support/world/robossembler.world index e88f98b..cab8212 100644 --- a/rasmt_support/world/robossembler.world +++ b/rasmt_support/world/robossembler.world @@ -69,6 +69,28 @@ 0 + + 0.5 0 0.1 0 0 0 + + + + + 0.15 0.15 0.05 + + + + + + + 0.15 0.15 0.05 + + + + + + + + 0 0 -9.8 6e-06 2.3e-05 -4.2e-05 diff --git a/robossembler/CMakeLists.txt b/robossembler/CMakeLists.txt index b043617..4b65200 100644 --- a/robossembler/CMakeLists.txt +++ b/robossembler/CMakeLists.txt @@ -22,6 +22,7 @@ find_package(gazebo_msgs REQUIRED) find_package(robossembler_interfaces REQUIRED) find_package(behavior_tree REQUIRED) find_package(control_msgs REQUIRED) +find_package(scene_monitor_interfaces REQUIRED) if (NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 17) @@ -48,6 +49,7 @@ set(dependencies behavior_tree std_msgs control_msgs + scene_monitor_interfaces ) include_directories(include) @@ -64,6 +66,9 @@ list(APPEND plugin_libs robossembler_move_gripper_bt_action_client) add_library(robossembler_print_bt_node SHARED src/behavior_tree_nodes/Print.cpp) list(APPEND plugin_libs robossembler_print_bt_node) +add_library(robossembler_get_grasp_poses_bt_action_client SHARED src/behavior_tree_nodes/atomic_skills/GetGraspPoses.cpp) +list(APPEND plugin_libs robossembler_get_grasp_poses_bt_action_client) + foreach(bt_plugin ${plugin_libs}) ament_target_dependencies(${bt_plugin} ${dependencies}) target_compile_definitions(${bt_plugin} PRIVATE BT_PLUGIN_EXPORT) diff --git a/robossembler/behavior_trees_xml/atomic_skills_xml/simple_sequence.xml b/robossembler/behavior_trees_xml/atomic_skills_xml/assemble.xml similarity index 67% rename from robossembler/behavior_trees_xml/atomic_skills_xml/simple_sequence.xml rename to robossembler/behavior_trees_xml/atomic_skills_xml/assemble.xml index 097abbc..aa8f594 100644 --- a/robossembler/behavior_trees_xml/atomic_skills_xml/simple_sequence.xml +++ b/robossembler/behavior_trees_xml/atomic_skills_xml/assemble.xml @@ -1,22 +1,22 @@ - + - + - - - + + - + - + - - + + + diff --git a/robossembler/behavior_trees_xml/atomic_skills_xml/print.xml b/robossembler/behavior_trees_xml/atomic_skills_xml/print.xml new file mode 100644 index 0000000..188c6a6 --- /dev/null +++ b/robossembler/behavior_trees_xml/atomic_skills_xml/print.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/robossembler/behavior_trees_xml/atomic_skills_xml/remove.xml b/robossembler/behavior_trees_xml/atomic_skills_xml/remove.xml new file mode 100644 index 0000000..f24b38e --- /dev/null +++ b/robossembler/behavior_trees_xml/atomic_skills_xml/remove.xml @@ -0,0 +1,52 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/robossembler/config/params.yaml b/robossembler/config/params.yaml index a7d945a..616c3e9 100644 --- a/robossembler/config/params.yaml +++ b/robossembler/config/params.yaml @@ -1,24 +1,20 @@ -assemble_1: +# assemble: +# ros__parameters: +# plugins: +# - robossembler_get_entity_state_bt_action_client +# - robossembler_move_topose_bt_action_client +# - robossembler_move_gripper_bt_action_client +# - robossembler_get_grasp_poses_bt_action_client + +print_part: ros__parameters: plugins: - - robossembler_get_entity_state_bt_action_client + - robossembler_print_bt_node + +remove_part: + ros__parameters: + plugins: + - robossembler_get_grasp_poses_bt_action_client - robossembler_move_topose_bt_action_client - robossembler_move_gripper_bt_action_client - - robossembler_print_bt_node - frames: ["cube"] - materials: ["material1", material2] - printers: ["printer1", "printer2"] - printer_pos: - printer1: [1.0, 1.0, 0.0, - 0.0, 0.0, 0.0, - 0.0] - printer2: [-1.0, -1.0, 0.0, - 0.0, 0.0, 0.0, - 0.0] - pick_entity: - go_to: [0.40644, 0.0, 0.3274, 0.0, 1.0, 0.0, 0.009] - bring: [0.40644, 0.0, 0.2274, 0.0, 1.0, 0.0, 0.009] - gripp_cmd: - open: 0.06 - close: 0.02 diff --git a/robossembler/include/robot_bt/behavior_tree_nodes/GetGraspPoses.hpp b/robossembler/include/robot_bt/behavior_tree_nodes/GetGraspPoses.hpp new file mode 100644 index 0000000..779c473 --- /dev/null +++ b/robossembler/include/robot_bt/behavior_tree_nodes/GetGraspPoses.hpp @@ -0,0 +1,37 @@ +#pragma once + +#include +#include + +#include +#include + +#include +#include +#include + + +class GetGraspPoses : public BtService +{ +public: + GetGraspPoses(const std::string &xml_tag_name, + const BT::NodeConfiguration &conf); + + scene_monitor_interfaces::srv::GetGraspPoses::Request::SharedPtr populate_request() override; + + BT::NodeStatus handle_response(scene_monitor_interfaces::srv::GetGraspPoses::Response::SharedPtr response) override; + + static BT::PortsList providedPorts() + { + return providedBasicPorts({ + BT::InputPort("part_id"), + BT::OutputPort("grasp_pose"), + BT::OutputPort("pre_grasp_pose"), + BT::OutputPort("gap_distance") + }); + } + +private: + std::string frame_; + scene_monitor_interfaces::msg::GraspPose grasp_pose_; +}; \ No newline at end of file diff --git a/robossembler/include/robot_bt/behavior_tree_nodes/Print.hpp b/robossembler/include/robot_bt/behavior_tree_nodes/Print.hpp index 8db0e67..9f627d6 100644 --- a/robossembler/include/robot_bt/behavior_tree_nodes/Print.hpp +++ b/robossembler/include/robot_bt/behavior_tree_nodes/Print.hpp @@ -3,33 +3,34 @@ #include #include -#include -#include #include +#include + +#include #include #include -class Print : public BtService +class Print : public BtService { public: Print(const std::string &xml_tag_name, const BT::NodeConfiguration &conf); - gazebo_msgs::srv::SpawnEntity::Request::SharedPtr populate_request(); + scene_monitor_interfaces::srv::PrintPart::Request::SharedPtr populate_request() override; - BT::NodeStatus handle_response(gazebo_msgs::srv::SpawnEntity::Response::SharedPtr response); + BT::NodeStatus handle_response(scene_monitor_interfaces::srv::PrintPart::Response::SharedPtr response) override; static BT::PortsList providedPorts() { return providedBasicPorts({ - BT::InputPort("frame") + BT::InputPort("frame"), + BT::InputPort("printer") }); } private: - std::map printer_coords_; - std::string material_; + std::string printer_; std::string frame_; }; \ No newline at end of file diff --git a/robossembler/launch/task_planner.launch.py b/robossembler/launch/task_planner.launch.py index 08f6427..cbaf10f 100644 --- a/robossembler/launch/task_planner.launch.py +++ b/robossembler/launch/task_planner.launch.py @@ -79,14 +79,14 @@ def generate_launch_description(): 'launch', 'plansys2_bringup_launch_monolithic.py')), launch_arguments={ - 'model_file': pkg_dir + '/pddl/domain.pddl', + 'model_file': pkg_dir + '/pddl/cat_domain.pddl', 'namespace': namespace }.items()) - - assemble_1 = Node( + """ + assemble = Node( package='plansys2_bt_actions', executable='bt_action_node', - name='assemble_1', + name='assemble', namespace=namespace, output='screen', parameters=[ @@ -95,12 +95,44 @@ def generate_launch_description(): robot_description_semantic, kinematics_yaml, { - 'action_name': 'assemble-1', - 'publisher_port': 1666, - 'server_port': 1667, - 'bt_xml_file': pkg_dir + '/behavior_trees_xml/atomic_skills_xml/simple_sequence.xml', + 'action_name': 'assemble', + # 'publisher_port': 1666, + # 'server_port': 1667, + 'bt_xml_file': pkg_dir + '/behavior_trees_xml/atomic_skills_xml/assemble.xml', } ]) + """ + print_part = Node( + package='plansys2_bt_actions', + executable='bt_action_node', + name='print_part', + namespace=namespace, + output='screen', + parameters=[ + pkg_dir + '/config/params.yaml', + { + 'action_name': 'print', + 'bt_xml_file': pkg_dir + '/behavior_trees_xml/atomic_skills_xml/print.xml', + } + ]) + + remove_part = Node( + package='plansys2_bt_actions', + executable='bt_action_node', + name='remove_part', + namespace=namespace, + output='screen', + parameters=[ + pkg_dir + '/config/params.yaml', + robot_description, + robot_description_semantic, + kinematics_yaml, + { + 'action_name': 'remove', + 'bt_xml_file': pkg_dir + '/behavior_trees_xml/atomic_skills_xml/remove.xml', + } + ]) + """gz_get_entity_state = Node( package='plansys2_bt_actions', executable='bt_action_node', @@ -124,6 +156,8 @@ def generate_launch_description(): # Declare the launch options ld.add_action(plansys2_cmd) - ld.add_action(assemble_1) + # ld.add_action(assemble) + ld.add_action(print_part) + ld.add_action(remove_part) return ld \ No newline at end of file diff --git a/robossembler/package.xml b/robossembler/package.xml index be75346..bce1d6b 100644 --- a/robossembler/package.xml +++ b/robossembler/package.xml @@ -30,6 +30,7 @@ ament_index_cpp robossembler_interfaces behavior_tree + scene_monitor_interfaces ament_lint_common ament_lint_auto diff --git a/robossembler/pddl/cat_domain.pddl b/robossembler/pddl/cat_domain.pddl new file mode 100644 index 0000000..6417ac8 --- /dev/null +++ b/robossembler/pddl/cat_domain.pddl @@ -0,0 +1,44 @@ +;; Modified domain taken from +;; "Knowledge transfer in robot manipulation tasks" by Jacob O. Huckaby 2014 +(define (domain robossembler) + (:requirements :strips :typing :adl :fluents :durative-actions) + (:types + printer workspace - zone + part + arm + ) + + (:predicates + (part_at ?p - part ?z - zone) + (printer_ready ?pr - printer) + (arm_available ?a - arm) + ) + + (:functions) + + (:durative-action print + :parameters (?p - part ?pr - printer) + :duration ( = ?duration 10) + :condition (and + (at start(printer_ready ?pr)) + ) + :effect (and + (at end(part_at ?p ?pr)) + ) + ) + + (:durative-action remove + :parameters (?p - part ?pr - printer ?z - zone ?a - arm) + :duration (= ?duration 1) + :condition (and + (at start (part_at ?p ?pr)) + (at start (arm_available ?a)) + ) + :effect (and + (at start (not (arm_available ?a))) + (at end (part_at ?p ?z)) + (at end (arm_available ?a)) + (at end (printer_ready ?pr)) + ) + ) +);; end Domain ;;;;;;;;;;;;;;;;;;;;;;;; \ No newline at end of file diff --git a/robossembler/src/behavior_tree_nodes/Print.cpp b/robossembler/src/behavior_tree_nodes/Print.cpp index 01a58c8..fac5dcf 100644 --- a/robossembler/src/behavior_tree_nodes/Print.cpp +++ b/robossembler/src/behavior_tree_nodes/Print.cpp @@ -1,82 +1,50 @@ +#include "robot_bt/behavior_tree_nodes/Print.hpp" + +#include +#include +#include + #include #include #include #include #include -#include -#include -#include -#include "robot_bt/behavior_tree_nodes/Print.hpp" -using SpawnEntitySrv = gazebo_msgs::srv::SpawnEntity; +using PrintPartSrv = scene_monitor_interfaces::srv::PrintPart; Print::Print(const std::string &xml_tag_name, const BT::NodeConfiguration &conf) -:BtService(xml_tag_name, conf) -{ - geometry_msgs::msg::Pose a; - a.position.x = 0.8; - a.position.y = 0.8; - a.position.z = 0.0; - geometry_msgs::msg::Pose b; - a.position.x = 0.4; - a.position.y = 0.0; - a.position.z = 0.05; - printer_coords_.insert(std::make_pair("printerB", b)); - printer_coords_.insert(std::make_pair("printerA", a)); -} +:BtService(xml_tag_name, conf) +{} -SpawnEntitySrv::Request::SharedPtr Print::populate_request() +PrintPartSrv::Request::SharedPtr Print::populate_request() { - std::string frame, printer, material; + std::string frame, printer; getInput("frame", frame_); - - printer_ = "printerA"; - material_="material1"; - - - std::string package_share_directory = ament_index_cpp::get_package_share_directory("sdf_models"); - std::filesystem::path sdf_path = package_share_directory + "/models/" + frame_ + "/model.sdf"; + RCLCPP_INFO_STREAM(_node->get_logger(), "Provided part name ["<< frame_ <<"]"); - RCLCPP_INFO(_node->get_logger(), "Start read frame (%s) frame_path (%s)", frame_.c_str(), sdf_path.c_str()); + getInput("printer", printer_); + RCLCPP_INFO_STREAM(_node->get_logger(), "Provided printer name ["<< printer_ <<"]"); - std::ifstream sdf_file(sdf_path); - std::stringstream buffer; + auto request = std::make_shared(); + request->frame_id = frame_; + request->printer_id = printer_; - if (sdf_file.is_open()) { - buffer << sdf_file.rdbuf(); - sdf_file.close(); - } else { - - RCLCPP_WARN(_node->get_logger(), "Failed while try to open file (%s)", sdf_path.c_str()); - return 0; - } - - std::string xml = buffer.str(); - - geometry_msgs::msg::Pose pose = printer_coords_[printer_]; - - auto request = std::make_shared(); - request->name = frame_; - request->initial_pose = pose; - request->xml = xml; - RCLCPP_INFO(_node->get_logger(), "Connecting to '/spawn_entity' service..."); - return request; } -BT::NodeStatus Print::handle_response(SpawnEntitySrv::Response::SharedPtr response) +BT::NodeStatus Print::handle_response(PrintPartSrv::Response::SharedPtr response) { RCLCPP_INFO(_node->get_logger(), "Handle Response call"); if (!response->success) { - RCLCPP_WARN(_node->get_logger(), "Get failure response from service with msg: `%s`", response->status_message.c_str()); + RCLCPP_WARN(_node->get_logger(), "Get failure response from service with msg: `%s`", response->message.c_str()); return BT::NodeStatus::FAILURE; } - RCLCPP_INFO(_node->get_logger(), "Get success response status with msg: `%s`", response->status_message.c_str()); + RCLCPP_INFO(_node->get_logger(), "Get success response status with msg: `%s`", response->message.c_str()); return BT::NodeStatus::SUCCESS; } diff --git a/robossembler/src/behavior_tree_nodes/atomic_skills/GetGraspPoses.cpp b/robossembler/src/behavior_tree_nodes/atomic_skills/GetGraspPoses.cpp new file mode 100644 index 0000000..ac07145 --- /dev/null +++ b/robossembler/src/behavior_tree_nodes/atomic_skills/GetGraspPoses.cpp @@ -0,0 +1,57 @@ +#include "robot_bt/behavior_tree_nodes/GetGraspPoses.hpp" + +#include +#include +#include + +#include +#include +#include +#include +#include + + +using GetGraspPosesSrv = scene_monitor_interfaces::srv::GetGraspPoses; + +GetGraspPoses::GetGraspPoses(const std::string &xml_tag_name, + const BT::NodeConfiguration &conf) +:BtService(xml_tag_name, conf) +{} + +GetGraspPosesSrv::Request::SharedPtr GetGraspPoses::populate_request() +{ + std::string frame, printer; + getInput("part_id", frame_); + RCLCPP_INFO_STREAM(_node->get_logger(), "Provided part name ["<< frame_ <<"]"); + + auto request = std::make_shared(); + request->frame_id = frame_; + + return request; +} + +BT::NodeStatus GetGraspPoses::handle_response(GetGraspPosesSrv::Response::SharedPtr response) +{ + RCLCPP_INFO(_node->get_logger(), "Handle Response call"); + + if (!response->success) + { + RCLCPP_WARN(_node->get_logger(), "Get failure response from service with msg: `%s`", response->message.c_str()); + return BT::NodeStatus::FAILURE; + } + + RCLCPP_INFO(_node->get_logger(), "Get success response status with msg: `%s`", response->message.c_str()); + + scene_monitor_interfaces::msg::GraspPose grasp_pose = response->grasp_poses[0]; + + setOutput("grasp_pose", grasp_pose.grasp_pose); + setOutput("pre_grasp_pose", grasp_pose.pre_grasp_pose); + setOutput("gap_distance", grasp_pose.gap_distance); + + return BT::NodeStatus::SUCCESS; +} + +BT_REGISTER_NODES(factory) +{ + factory.registerNodeType("GetGraspPoses"); +} \ No newline at end of file diff --git a/robossembler/src/behavior_tree_nodes/atomic_skills/MoveGripper.cpp b/robossembler/src/behavior_tree_nodes/atomic_skills/MoveGripper.cpp index ada3ee9..33ad286 100644 --- a/robossembler/src/behavior_tree_nodes/atomic_skills/MoveGripper.cpp +++ b/robossembler/src/behavior_tree_nodes/atomic_skills/MoveGripper.cpp @@ -13,12 +13,12 @@ class SendGripperCmd : public BtAction public: SendGripperCmd(const std::string & name, const BT::NodeConfiguration & config) : BtAction(name, config) { - //gripper_gap = 0.02; - gripper_point_a_ = 0.06; - gripper_point_b_ = 0.05; + // //gripper_gap = 0.02; + // gripper_point_a_ = 0.06; + // gripper_point_b_ = 0.05; - gripper_cmd.insert(std::make_pair("open", gripper_point_a_)); - gripper_cmd.insert(std::make_pair("close", gripper_point_b_)); + // gripper_cmd.insert(std::make_pair("open", gripper_point_a_)); + // gripper_cmd.insert(std::make_pair("close", gripper_point_b_)); } @@ -26,25 +26,29 @@ class SendGripperCmd : public BtAction { auto goal = GripperCmd::Goal(); - getInput("command", command); - goal.value = gripper_cmd[command]; + // getInput("command", command); + //goal.value = gripper_cmd[command]; //goal.trajectory.points = gripper_cmd[command]; + getInput("gap_distance", distance_); + goal.value = distance_; + return goal; } static PortsList providedPorts() { return providedBasicPorts({ - InputPort("command")}); + InputPort("gap_distance")}); } private: std::vector joint_names_ = {"rasmt_Slide_1", "rasmt_Slide_2"}; - double gripper_point_a_{0.0}; - double gripper_point_b_{0.0}; - std::map gripper_cmd; - std::string command; + // double gripper_point_a_{0.0}; + // double gripper_point_b_{0.0}; + // std::map gripper_cmd; + // std::string command; + double distance_; }; // class MoveToJointState diff --git a/robossembler/src/behavior_tree_nodes/atomic_skills/MoveToPose.cpp b/robossembler/src/behavior_tree_nodes/atomic_skills/MoveToPose.cpp index 8591c45..e983306 100644 --- a/robossembler/src/behavior_tree_nodes/atomic_skills/MoveToPose.cpp +++ b/robossembler/src/behavior_tree_nodes/atomic_skills/MoveToPose.cpp @@ -1,9 +1,10 @@ #include "robossembler_interfaces/action/moveit_send_pose.hpp" + #include "behaviortree_cpp_v3/bt_factory.h" #include "behavior_tree/BtAction.hpp" #include "geometry_msgs/msg/pose_stamped.hpp" #include "moveit_msgs/action/move_group.h" -#include "Eigen/Geometry" +// #include "Eigen/Geometry" #include "rclcpp/parameter.hpp" using namespace BT; @@ -15,33 +16,33 @@ class MoveToPose : public BtAction public: MoveToPose(const std::string & name, const BT::NodeConfiguration & config) : BtAction(name, config) { - target_pose_a_.position.x = 0.40644; - target_pose_a_.position.y = 0.0; - target_pose_a_.position.z = 0.3274; - target_pose_a_.orientation.x = 0; - target_pose_a_.orientation.y = 1.0; - target_pose_a_.orientation.z = 0.0; - target_pose_a_.orientation.w = 0.009; + // target_pose_a_.position.x = 0.519;//0.40644; + // target_pose_a_.position.y = 0.5;//0.0; + // target_pose_a_.position.z = -0.021;//0.3274; + // target_pose_a_.orientation.x = 0.58;//0; + // target_pose_a_.orientation.y = -0.16;//1.0; + // target_pose_a_.orientation.z = 0.16;//0.0; + // target_pose_a_.orientation.w = 0.77;//0.009; - target_pose_b_.position.x = 0.0; - target_pose_b_.position.y = 0.0; - target_pose_b_.position.z = -0.12; - target_pose_b_.orientation.x = 0; - target_pose_b_.orientation.y = 0.0; - target_pose_b_.orientation.z = 0.0; - target_pose_b_.orientation.w = 0.0; + // target_pose_b_.position.x = 0.0; + // target_pose_b_.position.y = 0.0; + // target_pose_b_.position.z = -0.12; + // target_pose_b_.orientation.x = 0; + // target_pose_b_.orientation.y = 0.0; + // target_pose_b_.orientation.z = 0.0; + // target_pose_b_.orientation.w = 0.0; - target_pose_c_.position.x = 0.0; - target_pose_c_.position.y = 0.0; - target_pose_c_.position.z = 0.12; - target_pose_c_.orientation.x = 0; - target_pose_c_.orientation.y = 0.0; - target_pose_c_.orientation.z = 0.0; - target_pose_c_.orientation.w = 0.0; + // target_pose_c_.position.x = 0.0; + // target_pose_c_.position.y = 0.0; + // target_pose_c_.position.z = 0.12; + // target_pose_c_.orientation.x = 0; + // target_pose_c_.orientation.y = 0.0; + // target_pose_c_.orientation.z = 0.0; + // target_pose_c_.orientation.w = 0.0; - pick_and_place_command.insert(std::make_pair("go_to", target_pose_a_)); - pick_and_place_command.insert(std::make_pair("down", target_pose_b_)); - pick_and_place_command.insert(std::make_pair("up", target_pose_c_)); + // pick_and_place_command.insert(std::make_pair("go_to", target_pose_a_)); + // pick_and_place_command.insert(std::make_pair("down", target_pose_b_)); + // pick_and_place_command.insert(std::make_pair("up", target_pose_c_)); } @@ -50,13 +51,17 @@ class MoveToPose : public BtAction { getInput("arm_group", robot_name_); //robot_name_ = getInput("arm_group").value(); - getInput("command", command); + getInput("pose", pose_); + + RCLCPP_INFO(_node->get_logger(), "GrasPose \npose.x: %f pose.y: %f pose.z: \n%f opientation.x: %f orientation.y: %f orientation.z: %f orientation.w: %f", + pose_.position.x, pose_.position.y, pose_.position.z, + pose_.orientation.x, pose_.orientation.y, pose_.orientation.z, pose_.orientation.w); RCLCPP_INFO(_node->get_logger(), "Send goal to robot [%s]", robot_name_.c_str()); auto goal = MoveToPoseAction::Goal(); goal.robot_name = robot_name_; goal.end_effector_acceleration = 1.0; goal.end_effector_velocity = 1.0; - goal.target_pose = pick_and_place_command[command]; + goal.target_pose = pose_; RCLCPP_INFO(_node->get_logger(), "Goal populated"); return goal; @@ -66,16 +71,16 @@ class MoveToPose : public BtAction { return providedBasicPorts({ InputPort("arm_group"), - InputPort("command")}); + InputPort("pose")}); } private: geometry_msgs::msg::Pose target_pose_a_; geometry_msgs::msg::Pose target_pose_b_, target_pose_c_; std::string robot_name_; - std::map pick_and_place_command; - std::string command; - std::string pick; + // std::map pick_and_place_command; + geometry_msgs::msg::Pose pose_; + // std::string pick; }; // class MoveToPose diff --git a/robossembler/src/move_controller_node.cpp b/robossembler/src/move_controller_node.cpp index 607214d..ed45f1a 100644 --- a/robossembler/src/move_controller_node.cpp +++ b/robossembler/src/move_controller_node.cpp @@ -54,11 +54,19 @@ public: void init_knowledge() { - problem_expert_->addInstance(plansys2::Instance{"rasmt_arm_group", "robot"}); - problem_expert_->addInstance(plansys2::Instance{"cube", "part"}); - problem_expert_->addInstance(plansys2::Instance("rasmt_hand_arm_group", "gripper")); + problem_expert_->addInstance(plansys2::Instance{"printer1", "printer"}); + problem_expert_->addInstance(plansys2::Instance{"output_shaft_211118", "part"}); + problem_expert_->addInstance(plansys2::Instance{"rasmt_arm_group", "arm"}); + problem_expert_->addInstance(plansys2::Instance{"workspace1", "workspace"}); - problem_expert_->setGoal(plansys2::Goal("(and(enviroment_setup rasmt_arm_group rasmt_hand_arm_group cube))")); + + // problem_expert_->addInstance(plansys2::Instance("rasmt_hand_arm_group", "gripper")); + + problem_expert_->addPredicate(plansys2::Predicate{"(printer_ready printer1)"}); + problem_expert_->addPredicate(plansys2::Predicate{"(arm_available rasmt_arm_group)"}); + + problem_expert_->setGoal(plansys2::Goal("(and(part_at output_shaft_211118 workspace1))")); + // problem_expert_->setGoal(plansys2::Goal("(and(enviroment_setup rasmt_arm_group rasmt_hand_arm_group cube))")); } diff --git a/robossembler_scene_monitor/printer/include/printer_base.hpp b/robossembler_scene_monitor/printer/include/printer_base.hpp deleted file mode 100644 index 82a96ee..0000000 --- a/robossembler_scene_monitor/printer/include/printer_base.hpp +++ /dev/null @@ -1,33 +0,0 @@ -#pragma once - -#include -#include -// #include - -namespace printer -{ - -template -class PrinterBase: public rclcpp::Node -{ - - inline const Derived& derived() const& noexcept - { - return *static_cast(this); - } - -public: - explicit PrinterBase(const rclcpp::NodeOptions& options); - virtual ~PrinterBase() = default; - // virtual void print(const std::string& frame_name, - // const geometry_msgs::msg::Pose& placement_pose, - // const std::string& package_name); - // virtual ~Printer(); - -protected: - std::string _printer_name; - // geometry_msgs::msg::Pose _printer_pose; - -}; - -} // namespace printer \ No newline at end of file diff --git a/robossembler_scene_monitor/printer/src/gz_printer_plugin.cpp b/robossembler_scene_monitor/printer/src/gz_printer_plugin.cpp deleted file mode 100644 index b8beabd..0000000 --- a/robossembler_scene_monitor/printer/src/gz_printer_plugin.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "printer_base.hpp" - -namespace printer_plugins -{ - -class GZPrinter : public printer_base::Printer -{ -public: - void init(const std::string &printer_name) override - { - this->_printer_name = printer_name; - } -}; - -}// namespace printer_plugins \ No newline at end of file diff --git a/robossembler_scene_monitor/scene_monitor/config/component_state_node.param.yaml b/robossembler_scene_monitor/scene_monitor/config/component_state_node.param.yaml index 7e7853d..e406317 100644 --- a/robossembler_scene_monitor/scene_monitor/config/component_state_node.param.yaml +++ b/robossembler_scene_monitor/scene_monitor/config/component_state_node.param.yaml @@ -1,10 +1,11 @@ component_state_monitor_node: ros__parameters: models-package: "sdf_models" - printers_names: ["printerA"] + global_frame: "world" + printers_names: ["printer1"] printers: - printerA: - position: [0.5, 0.5, 0.0] + printer1: + position: [0.5, 0.0, 0.12] orientation: [0.0, 0.0, 0.0, 0.0] # printerB: # position: [2.0, 2.0, 2.0] diff --git a/robossembler_scene_monitor/scene_monitor/include/component_state_monitor.hpp b/robossembler_scene_monitor/scene_monitor/include/component_state_monitor.hpp index 3b1cf2c..5035565 100644 --- a/robossembler_scene_monitor/scene_monitor/include/component_state_monitor.hpp +++ b/robossembler_scene_monitor/scene_monitor/include/component_state_monitor.hpp @@ -70,5 +70,7 @@ private: std::unique_ptr _tf2_buffer; rclcpp::TimerBase::SharedPtr _timer; + std::string _global_frame; + }; } \ No newline at end of file diff --git a/robossembler_scene_monitor/scene_monitor/package.xml b/robossembler_scene_monitor/scene_monitor/package.xml index d3e02cc..ba6157c 100644 --- a/robossembler_scene_monitor/scene_monitor/package.xml +++ b/robossembler_scene_monitor/scene_monitor/package.xml @@ -18,7 +18,6 @@ scene_monitor_interfaces nlohmann_json - printer_plugins ament_lint_auto ament_lint_common diff --git a/robossembler_scene_monitor/scene_monitor/src/component.cpp b/robossembler_scene_monitor/scene_monitor/src/component.cpp index d6ba169..0e7d5ba 100644 --- a/robossembler_scene_monitor/scene_monitor/src/component.cpp +++ b/robossembler_scene_monitor/scene_monitor/src/component.cpp @@ -95,15 +95,22 @@ namespace component_state_monitor return; } - _placement = construct_pose(input.at("placement")); + _placement = construct_pose(input.at("features").at("placements").at("placement")); auto grasp_poses = input.at("features").at("grasp-poses"); for (auto it = grasp_poses.begin(); it != grasp_poses.end(); ++it) { scene_monitor_interfaces::msg::GraspPose grasp_pose; grasp_pose.label = it.key(); - grasp_pose.placement_pose = construct_pose(it.value().at("placement")); - grasp_pose.distance = it.value().at("distance"); + grasp_pose.grasp_pose = construct_pose(it.value().at("placement")); + + geometry_msgs::msg::Pose pre_pose; + pre_pose.position.z = 0.12; + //pre_pose.orientation = grasp_pose.grasp_pose.orientation; + + grasp_pose.pre_grasp_pose = pre_pose; + + grasp_pose.gap_distance = it.value().at("distance"); _grasp_poses.insert({grasp_pose.label, grasp_pose}); } diff --git a/robossembler_scene_monitor/scene_monitor/src/component_pose_estimation.cpp b/robossembler_scene_monitor/scene_monitor/src/component_pose_estimation.cpp index 9aec13e..3c22371 100644 --- a/robossembler_scene_monitor/scene_monitor/src/component_pose_estimation.cpp +++ b/robossembler_scene_monitor/scene_monitor/src/component_pose_estimation.cpp @@ -45,9 +45,9 @@ geometry_msgs::msg::Pose ComponentPoseEstimation::framePose(const std::string& f _pose = result->state.pose; RCLCPP_INFO(this->get_logger(), "Get success response status"); - RCLCPP_INFO(this->get_logger(), "update frame (%s) with \npose.x: %f pose.y: %f pose.z: \n%f opientation.x: %f orientation.y: %f orientation.z: %f orientation.w: %f", - frame_id.c_str(), _pose.position.x, _pose.position.y, _pose.position.z, - _pose.orientation.x, _pose.orientation.y, _pose.orientation.z, _pose.orientation.w); + // RCLCPP_INFO(this->get_logger(), "update frame (%s) with \npose.x: %f pose.y: %f pose.z: \n%f opientation.x: %f orientation.y: %f orientation.z: %f orientation.w: %f", + // frame_id.c_str(), _pose.position.x, _pose.position.y, _pose.position.z, + // _pose.orientation.x, _pose.orientation.y, _pose.orientation.z, _pose.orientation.w); return _pose; } diff --git a/robossembler_scene_monitor/scene_monitor/src/component_state_monitor.cpp b/robossembler_scene_monitor/scene_monitor/src/component_state_monitor.cpp index e895a27..771bfa1 100644 --- a/robossembler_scene_monitor/scene_monitor/src/component_state_monitor.cpp +++ b/robossembler_scene_monitor/scene_monitor/src/component_state_monitor.cpp @@ -13,6 +13,7 @@ namespace component_state_monitor ComponentStateMonitor::ComponentStateMonitor(): Node("component_state_monitor_node") { this->declare_parameter("models-package", "sdf_models"); + this->declare_parameter("global_frame", "world"); this->declare_parameter>("printers_names", std::vector{}); RCLCPP_INFO(this->get_logger(), "Initialize [get_part] service"); @@ -43,7 +44,6 @@ namespace component_state_monitor initializeParameters(); initializeComponents(_models_package); - // _viz_marker_pub = this->create_publisher("scene_monitor_viz_markers", 10); _timer = this->create_wall_timer( 20ms, std::bind(&ComponentStateMonitor::updateComponents, this) @@ -56,11 +56,12 @@ namespace component_state_monitor { if (component.second.getCurrentState() == ComponentState::Printed) { - makeTransform(component.second, "world"); + makeTransform(component.second, _global_frame); auto grasp_poses = component.second.getGraspPoses(); for (const auto& grasp_pose: grasp_poses) { - makeTransform(grasp_pose.label, grasp_pose.placement_pose, component.first); + makeTransform(grasp_pose.label, grasp_pose.grasp_pose, component.first); + makeTransform(std::string("pre_" + grasp_pose.label), grasp_pose.pre_grasp_pose, grasp_pose.label); } } } @@ -115,6 +116,9 @@ namespace component_state_monitor { this->get_parameter("models-package", _models_package); RCLCPP_INFO(this->get_logger(), "Initialize with models-package (%s)", _models_package.c_str()); + + this->get_parameter("global_frame", _global_frame); + RCLCPP_INFO(this->get_logger(), "Initialize with global_frame (%s)", _global_frame.c_str()); std::vector printers; this->get_parameter("printers_names", printers); @@ -146,7 +150,6 @@ namespace component_state_monitor tmp_pose.orientation.z = orientation.at(3); _loaded_printers.insert({printer, tmp_pose}); - // makeTransform(printer, tmp_pose, "world"); } } @@ -184,7 +187,41 @@ namespace component_state_monitor if (_loaded_components.find(request->frame_id) != _loaded_components.end()) { auto component = _loaded_components.at(request->frame_id); - response->grasp_poses = component.getGraspPoses(); + auto grasp_poses = component.getGraspPoses(); + std::vector result_poses; + + for (auto pose: grasp_poses) + { + geometry_msgs::msg::TransformStamped transformStamped = _tf2_buffer->lookupTransform( + _global_frame, pose.label, tf2::TimePointZero + ); + + pose.grasp_pose.position.x = transformStamped.transform.translation.x; + pose.grasp_pose.position.y = transformStamped.transform.translation.y; + pose.grasp_pose.position.z = transformStamped.transform.translation.z; + + pose.grasp_pose.orientation.x = transformStamped.transform.rotation.x; + pose.grasp_pose.orientation.y = transformStamped.transform.rotation.y; + pose.grasp_pose.orientation.z = transformStamped.transform.rotation.z; + pose.grasp_pose.orientation.w = transformStamped.transform.rotation.w; + + geometry_msgs::msg::TransformStamped preTransformStamped = _tf2_buffer->lookupTransform( + _global_frame, std::string("pre_"+pose.label), tf2::TimePointZero + ); + + pose.pre_grasp_pose.position.x = preTransformStamped.transform.translation.x; + pose.pre_grasp_pose.position.y = preTransformStamped.transform.translation.y; + pose.pre_grasp_pose.position.z = preTransformStamped.transform.translation.z; + + pose.pre_grasp_pose.orientation.x = preTransformStamped.transform.rotation.x; + pose.pre_grasp_pose.orientation.y = preTransformStamped.transform.rotation.y; + pose.pre_grasp_pose.orientation.z = preTransformStamped.transform.rotation.z; + pose.pre_grasp_pose.orientation.w = preTransformStamped.transform.rotation.w; + + result_poses.push_back(pose); + } + + response->grasp_poses = result_poses; response->success = true; response->message = "succesfully received a response from service [get_grasp_poses]"; } else { @@ -208,30 +245,33 @@ namespace component_state_monitor if (component.getCurrentState() == ComponentState::Printed) { - // std_msgs::msg::Header header; - // header.frame_id = request->frame_id; - - // geometry_msgs::msg::PoseStamped target_pose; - // target_pose.header = header; - // target_pose.pose = component.getGraspPose(header.frame_id).placement_pose; - - // std::string world = "world"; - // geometry_msgs::msg::PoseStamped target_pose_req = - // _tf2_buffer->transform(target_pose, world); geometry_msgs::msg::TransformStamped transformStamped = _tf2_buffer->lookupTransform( - "world", request->grasp_pose_name, tf2::TimePointZero + _global_frame, request->grasp_pose_name, tf2::TimePointZero ); auto grasp_pose = component.getGraspPose(request->grasp_pose_name); - grasp_pose.placement_pose.position.x = transformStamped.transform.translation.x; - grasp_pose.placement_pose.position.y = transformStamped.transform.translation.y; - grasp_pose.placement_pose.position.z = transformStamped.transform.translation.z; + grasp_pose.grasp_pose.position.x = transformStamped.transform.translation.x; + grasp_pose.grasp_pose.position.y = transformStamped.transform.translation.y; + grasp_pose.grasp_pose.position.z = transformStamped.transform.translation.z; - grasp_pose.placement_pose.orientation.x = transformStamped.transform.rotation.x; - grasp_pose.placement_pose.orientation.y = transformStamped.transform.rotation.y; - grasp_pose.placement_pose.orientation.z = transformStamped.transform.rotation.z; - grasp_pose.placement_pose.orientation.w = transformStamped.transform.rotation.w; + grasp_pose.grasp_pose.orientation.x = transformStamped.transform.rotation.x; + grasp_pose.grasp_pose.orientation.y = transformStamped.transform.rotation.y; + grasp_pose.grasp_pose.orientation.z = transformStamped.transform.rotation.z; + grasp_pose.grasp_pose.orientation.w = transformStamped.transform.rotation.w; + + geometry_msgs::msg::TransformStamped preTransformStamped = _tf2_buffer->lookupTransform( + _global_frame, std::string("pre_"+grasp_pose.label), tf2::TimePointZero + ); + + grasp_pose.pre_grasp_pose.position.x = preTransformStamped.transform.translation.x; + grasp_pose.pre_grasp_pose.position.y = preTransformStamped.transform.translation.y; + grasp_pose.pre_grasp_pose.position.z = preTransformStamped.transform.translation.z; + + grasp_pose.pre_grasp_pose.orientation.x = preTransformStamped.transform.rotation.x; + grasp_pose.pre_grasp_pose.orientation.y = preTransformStamped.transform.rotation.y; + grasp_pose.pre_grasp_pose.orientation.z = preTransformStamped.transform.rotation.z; + grasp_pose.pre_grasp_pose.orientation.w = preTransformStamped.transform.rotation.w; response->grasp_pose = grasp_pose; response->success = true; diff --git a/robossembler_scene_monitor/scene_monitor_interfaces/msg/GraspPose.msg b/robossembler_scene_monitor/scene_monitor_interfaces/msg/GraspPose.msg index f95dd4f..7be3051 100644 --- a/robossembler_scene_monitor/scene_monitor_interfaces/msg/GraspPose.msg +++ b/robossembler_scene_monitor/scene_monitor_interfaces/msg/GraspPose.msg @@ -1,3 +1,4 @@ string label -geometry_msgs/Pose placement_pose # TODO: tf2 -float64 distance \ No newline at end of file +geometry_msgs/Pose grasp_pose +geometry_msgs/Pose pre_grasp_pose +float64 gap_distance \ No newline at end of file diff --git a/sdf_models/models/cube/frames.json b/sdf_models/models/cube/frames.json deleted file mode 100644 index e5b9629..0000000 --- a/sdf_models/models/cube/frames.json +++ /dev/null @@ -1,52 +0,0 @@ -{ - "label": "cube", - "placement": { - "position": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - }, - "orientation": { - "x": 0.0, - "y": 0.0, - "z": 0.0, - "w": 0.0 - } - }, - "features": { - "grasp-poses": { - "grasp-pose-1": { - "placement": { - "position": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - }, - "orientation": { - "x": 0.0, - "y": 0.0, - "z": 0.0, - "w": 0.0 - } - }, - "distance": 0.1 - }, - "grasp-pose-2": { - "placement": { - "position": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - }, - "orientation": { - "x": 0.0, - "y": 0.0, - "z": 0.0, - "w": 0.0 - } - }, - "distance": 0.1 - } - } - } -} diff --git a/sdf_models/models/cube/model.config b/sdf_models/models/cube/model.config deleted file mode 100644 index 08a1997..0000000 --- a/sdf_models/models/cube/model.config +++ /dev/null @@ -1,14 +0,0 @@ - - - cube - model.sdf - - - Splinter1984 - rom.andrianov1984@gmail.com - - - - A simple cube. - - diff --git a/sdf_models/models/cube/model.sdf b/sdf_models/models/cube/model.sdf deleted file mode 100644 index ed877c1..0000000 --- a/sdf_models/models/cube/model.sdf +++ /dev/null @@ -1,50 +0,0 @@ - - - - 0 - - 0 0 0 0 0 0 - - - 0.000000 0.000000 0.000000 0.000000 -0.000000 -0.000000 - 0.005709 - - 0.000001 - -0.000000 - -0.000000 - 0.000002 - -0.000000 - 0.000001 - - - - - - 0.1 0.1 0.1 - - - - - - 10000 - 10000 - - - - - - - - 0.1 0.1 0.1 - - - - - - - - - diff --git a/sdf_models/models/output_shaft_211118/frames.json b/sdf_models/models/output_shaft_211118/frames.json index 692d1a2..31ec4e5 100644 --- a/sdf_models/models/output_shaft_211118/frames.json +++ b/sdf_models/models/output_shaft_211118/frames.json @@ -1,30 +1,10 @@ { - "features": { - "grasp-poses": { - "Gripper_for_Part__Feature057": { - "placement": { - "position": { - "x": -7.2e-18, - "y": -0.0405, - "z": 3.9e-18 - }, - "orientation": { - "x": -0.1745956924081881, - "y": 0.1745956924081881, - "z": -0.969036990204714, - "w": 1.6022436365319073 - } - }, - "distance": 42.78237402995835 - } - } - }, "label": "output_shaft_211118", "placement": { "position": { - "x": 0.0, - "y": 0.0, - "z": 0.0 + "x": -0.0, + "y": -0.0, + "z": -0.0 }, "orientation": { "x": 0.0, @@ -32,5 +12,40 @@ "z": 1.0, "w": 0.0 } + }, + "features": { + "grasp-poses": { + "Gripper_for_Part__Feature057": { + "placement": { + "position": { + "x": -4e-19, + "y": -0.0815, + "z": 2.2099999999999998e-17 + }, + "orientation": { + "x": 0.7133549208900113, + "y": 0.4955425091967418, + "z": 0.4955425091967417, + "w": 4.38085841046605 + } + }, + "distance": 0.025 + } + }, + "placements": { + "placement": { + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "orientation": { + "x": 0.0, + "y": 0.0, + "z": 0.0, + "w": 0.0 + } + } + } } } \ No newline at end of file diff --git a/sdf_models/models/output_shaft_211118/meshes/output_shaft_211118.dae b/sdf_models/models/output_shaft_211118/meshes/output_shaft_211118.dae index e3ca157..a2d052e 100644 --- a/sdf_models/models/output_shaft_211118/meshes/output_shaft_211118.dae +++ b/sdf_models/models/output_shaft_211118/meshes/output_shaft_211118.dae @@ -1,7 +1,7 @@ - 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- - - - - - - - - - - - - - - diff --git a/sdf_models/models/stator_3508/model.config b/sdf_models/models/stator_3508/model.config deleted file mode 100644 index 3d80321..0000000 --- a/sdf_models/models/stator_3508/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - stator_3507 - Version - model.sdf - - Author - Email - - Comment - diff --git a/sdf_models/models/stator_3508/model.sdf b/sdf_models/models/stator_3508/model.sdf deleted file mode 100644 index 0edba2a..0000000 --- a/sdf_models/models/stator_3508/model.sdf +++ /dev/null @@ -1,39 +0,0 @@ - - - - 0.015815 -0.019409 0.063983 0.000000 0.000000 0.000000 - false - false - - 0.008103 0.021435 -0.039983 0.000000 -0.000000 -0.000000 - - 0.000000 0.000000 0.000000 0.000000 -0.000000 -0.000000 - 0.005709 - - 0.000001 - -0.000000 - -0.000000 - 0.000002 - -0.000000 - 0.000001 - - - - 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 - - - model://stator_3507\meshes\stator_3507.dae - - - - - 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 - - - model://stator_3507\meshes\stator_3507.dae - - - - - -